Fractional Control of a Lightweight Single Link Flexible Robot Robust to Strain Gauge Sensor Disturbances and Payload Changes
| Autor: | Selma Benftima, Saddam Gharab, Vicente Feliu Batlle |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
TK1001-1841
Control and Optimization fractional order control flexible links robot Computer science Payload (computing) PID controller Production of electric energy or power. Powerplants. Central stations sensor offset Control and Systems Engineering Control theory Control system TA401-492 robust control high-frequency noise Fractional-order control Robust control Actuator Materials of engineering and construction. Mechanics of materials Inner loop |
| Zdroj: | Actuators; Volume 10; Issue 12; Pages: 317 Selma Ben Ftima Actuators, Vol 10, Iss 317, p 317 (2021) |
| ISSN: | 2076-0825 |
| DOI: | 10.3390/act10120317 |
| Popis: | In this paper, a method to control one degree of freedom lightweight flexible manipulators is investigated. These robots have a single low-frequency and high amplitude vibration mode. They hold actuators with high friction, and sensors which are often strain gauges with offset and high-frequency noise. These problems reduce the motion’s performance and the precision of the robot tip positioning. Moreover, since the carried payload changes in the different tasks, that vibration frequency also changes producing underdamped or even unstable time responses of the closed-loop control system. The actuator friction effect is removed by using a robust two degrees of freedom PID control system which feeds back the actuator position. This is called the inner loop. After, an outer loop is closed that removes the link vibrations and is designed based on the combination of the singular perturbation theory and the input-state linearization technique. A new controller is proposed for this outer loop that: (1) removes the strain gauge offset effects, (2) reduces the risk of saturating the actuator due to the high-frequency noise of strain gauges and (3) achieves high robustness to a change in the payload mass. This last feature prompted us to use a fractional-order PD controller. A procedure for tuning this controller is also proposed. Simulated and experimental results are presented that show that its performance overcomes those of PD controllers, which are the controllers usually employed in the input-state linearization of second-order systems. |
| Databáze: | OpenAIRE |
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